Machine body handling device

Abstract

Provided is a body carrying device that saves the user's effort and can automatically diagnose the structural soundness of a drone. The body carrying device (1) receives and carries the body (A) of the drone. Among them, the body carrying device (1) includes: a receiving part (2) that can receive the body (A) of the drone; a data collection device (such as a hammer (5), a sensor (6)) that collects data related to the structural soundness of the body (A) of the drone received in the receiving part (2); a diagnosis device (7) that diagnoses the structural soundness of the body (A) of the drone based on the collected data; and a notification device (8) that notifies the diagnosis result of the diagnosis device (7).

Description

Technical Field

[0001] The present invention relates to a body handling device for storing and transporting the body of a drone. Background Art

[0002] In recent years, various developments have been made on drones including unmanned aerial vehicles (drones) in various fields such as air, land, and sea (including underwater).

[0003] In addition, for example, in unmanned aerial vehicles (UAVs), etc., developments have also been made on base stations and the like that can automatically replace the battery packs of unmanned aerial vehicles.

[0004] [Prior Art Documents]

[0005] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-518917 Summary of the Invention

[0007] However, in these drones, there are not a few cases where the body is damaged due to the body colliding with the ground, obstacles, etc. during flight, walking, etc., and the inspection related to the soundness of the body structure (i.e., whether the body is damaged) is mainly manually performed by users, etc.

[0008] However, such inspections are mostly laborious, and inspections are carried out by those with knowledge of drones before flight.

[0009] The present invention has been completed in view of the above aspects, and its object is to provide a body handling device that saves the user's labor and can automatically diagnose the soundness of the structure of a drone.

[0010] In order to solve the above problems, the invention according to Technical Solution 1 provides a body handling device for storing and transporting the body of a drone, characterized in that the body handling device includes: a storage unit capable of storing the body; a data collection device that collects data related to the soundness of the structure of the body stored in the storage unit; a diagnosis device that diagnoses the soundness of the structure of the body based on the collected data; and a notification device that notifies the diagnosis result of the diagnosis device.

[0011] The invention according to Technical Solution 2 is based on the body handling device according to Technical Solution 1, characterized in that the data collection device includes: a hammer that strikes the body; and a sensor that measures the vibration generated in the body.

[0012] The invention according to Technical Solution 3 is based on the body handling device according to Technical Solution 1 or 2, characterized in that the data collection device includes: a pressing unit for pressing the body; and a sensor for measuring the displacement generated in the body.

[0013] The invention according to Technical Solution 4 is based on the body handling device according to any one of Technical Solutions 1 to 3, characterized in that the data collection device includes: a unit for exciting ultrasonic waves in the body; and a sensor for measuring the ultrasonic waves propagated in the body.

[0014] The invention according to Technical Solution 5 is based on the body handling device according to any one of Technical Solutions 1 to 4, characterized in that the unmanned aerial vehicle is an unmanned aircraft, a take-off and landing area of the unmanned aircraft is provided on one surface of the housing of the body handling device, and sensors of the data collection device and / or sensors of the data collection device standing up from the surface are arranged at a portion of the take-off and landing area where the body of the unmanned aircraft abuts, so that the sensors of the data collection device abut against the body of the unmanned aircraft.

[0015] According to the present invention, in a body handling device for storing and transporting the body of an unmanned aerial vehicle, data required for the structural soundness of the unmanned aerial vehicle is automatically collected for diagnosis. Therefore, even if the user does not perform an inspection related to the structural soundness of the unmanned aerial vehicle, the structural soundness of the unmanned aerial vehicle can be automatically diagnosed and the user can be notified. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. is a view showing an open state of the box-type body handling device according to the present embodiment.

[0017] Figure 2 is Figure 1 a side cross-sectional view of the body handling device.

[0018] Figure 3 FIG. is a view showing a configuration example in which the entire unmanned aerial vehicle is clamped by foaming material.

[0019] Figure 4 FIG. is a view showing a configuration example in which each arm portion of the unmanned aerial vehicle is folded and stored.

[0020] Figure 5 FIG. is a view showing a configuration example in which the upper surface of the lid portion of the body handling device is used as a take-off and landing area for the unmanned aircraft.

[0021] [DESCRIPTION OF THE REFERENCE NUMERALS]

[0022] 1: Body handling device; 2: Storage section; 3a: Upper surface of the lid (one surface of the housing of the body handling device); 5: Hammer (data collection device, hammer); 6: Sensor (data collection device, sensor); 7: Diagnostic device; 8: Notification device; 10: Takeoff and landing area; A: Body; a: Main body of the unmanned aerial vehicle (body); b: Arm of the unmanned aerial vehicle (body); c: Leg of the unmanned aerial vehicle (body). Detailed implementation mode

[0023] Hereinafter, an implementation mode of the body handling device of the present invention will be described with reference to the drawings.

[0024] In addition, hereinafter, the case where the object to be handled by being stored in the body handling device of the present invention is an unmanned aerial vehicle type unmanned aircraft will be described. However, the body handling device of the present invention can be applied to, for example, an aircraft type unmanned aircraft, an underwater unmanned vehicle, etc., as long as it is an unmanned aerial vehicle that can be handled, and is not limited to a specific object.

[0025] Figure 1 It is a view showing an open state of the box-type body handling device of the present embodiment, Figure 2 is Figure 1 Side cross-sectional view of the body handling device.

[0026] In the present embodiment, the body handling device 1 is box-type and can store and handle the body A of the unmanned aerial vehicle.

[0027] The body handling device 1 includes: a storage section 2 capable of storing the body A of the unmanned aerial vehicle; and a lid section 3.

[0028] In the storage section 2, a storage space 4 for storing components such as the wings of the unmanned aerial vehicle and the battery is provided beside the space for storing the body A of the unmanned aerial vehicle. In addition, the storage space 4 can be provided at an appropriate position inside the body handling device 1.

[0029] In addition, in the present embodiment, when the lid section 3 of the body handling device 1 is closed, the main body a of the unmanned aerial vehicle is clamped by the internal structure of the storage section 2 and the internal structure of the lid section 3. By clamping the main body a, the body A of the unmanned aerial vehicle is positioned inside the body handling device 1.

[0030] In addition, in the present embodiment, data on vibrations generated in the body A (in this case, the arm b, etc. of the unmanned aerial vehicle) stored in the storage section 2 of the body handling device 1 is collected by hammering. The data on the vibrations becomes data related to the structural soundness of the body A.

[0031] Moreover, in the body handling device 1, as a data collection device for collecting data on the vibrations of the body A (that is, data related to the structural soundness) stored in the storage section 2, a hammer 5 is arranged in the storage section 2.

[0032] The hammer 5 is disposed at a position corresponding to the arm b of the airframe A, i.e., the arm of the drone in this case. According to the instructions of the diagnostic device 7 described later, in this case, from Figure 1 the lower side in the figure below, the arm b of the airframe A, i.e., the arm of the drone, is vibrated from the lower side to strike the airframe A, causing the arm b to vibrate.

[0033] In addition, although not shown in the figure, an actuator or the like for swinging the hammer 5 upward is disposed in the storage portion 2. In addition, Figure 1 、 Figure 2 shows the case where hammers 5 are respectively provided corresponding to the arm b of the drone. However, for example, it may also be configured to strike one hammer 5 against the four arm bs.

[0034] In addition, in the cover portion 3, as a data collection device, a sensor 6 is disposed at a position corresponding to the arm b of the airframe A, i.e., the arm of the drone. In a state where the cover portion 3 is closed, the sensor 6 abuts against the arm b of the airframe A, i.e., the arm of the drone.

[0035] Moreover, the sensor 6 measures the vibration generated in the arm b of the airframe A, i.e., the arm of the drone, by the hammer 5 according to the instructions of the diagnostic device 7 described later and transmits it to the diagnostic device 7. In addition, as long as the sensor 6 can detect the vibration generated in the airframe A, it may be constituted by an acceleration sensor, a velocity sensor, or the like.

[0036] In the airframe handling device 1, a diagnostic device 7 for diagnosing the structural soundness of the airframe A based on the collected data is provided. The diagnostic device 7 may be constituted by a general-purpose computer or may also be configured as a dedicated device.

[0037] In addition, in Figure 1 、 Figure 2 shows the case where the diagnostic device 7 is provided on the storage portion 2 side, but it may also be provided on the cover portion 3 side. The diagnostic method performed by the diagnostic device 7 will be described later.

[0038] In the cover portion 3 of the airframe handling device 1, a notification device 8 for notifying the diagnostic result of the diagnostic device 7, i.e., whether the airframe A is structurally sound or not, is provided. In the present embodiment, the notification device 8 is constituted by a display device such as a liquid crystal display.

[0039] In addition, it may also be configured to notify the diagnostic result of the diagnostic device 7 by sound or the like. In addition, it may also be configured such that the notification device 8 may be provided on the storage portion 2 side or on the outer surface side of the cover portion 3 or the storage portion 2, or the diagnostic result may be transmitted from the diagnostic device 7 to a user's smartphone or the like, and the smartphone or the like may be used as the notification device 8 to notify the user of the diagnostic result.

[0040] In this embodiment, if data obtained by measuring vibrations generated when the hammer 5 strikes the body A of the drone, i.e., the arm b of the drone, by the sensor 6 is sent, the diagnostic device 7 performs Fourier transform on the vibration data for spectral analysis, and diagnoses the structural soundness of the body A (i.e., whether it is structurally sound) based on the obtained spectrum.

[0041] At this time, it can be configured to strike the same arm b of the drone with the hammer 5 multiple times, average it, and then perform Fourier transform. Additionally, when performing multiple strikes, the vibration application point (striking part) can also be moved.

[0042] As a specific diagnostic method for the structural soundness of the body A, for example, it can be configured to strike the drone when it leaves the factory, starts to be used, etc. to obtain a spectrum, and compare the spectrum obtained when the diagnostic device 7 performs diagnosis with the spectrum at the time of leaving the factory, etc.

[0043] Alternatively, for example, it can be configured to pre-store samples of spectra when the body A of the drone has cracks, deformations, etc., i.e., when the body A is damaged, in the diagnostic device 7, and compare the spectrum obtained during diagnosis with the samples to diagnose the structural soundness of the body A.

[0044] Moreover, for example, it can also be configured to collect spectrum data when the body A is damaged for other drones of the same type in a data center, etc., compare the spectrum obtained during diagnosis with the collected data, or determine whether the spectrum obtained during diagnosis has the characteristics of the spectrum extracted from the collected data, etc., thereby diagnosing the structural soundness of the body A.

[0045] Furthermore, when the diagnosis result is that the body A is structurally unsound, the diagnostic device 7 causes the notification device 8 to display that the body A is structurally unsound, the body A is damaged, etc., or makes a sound notification to notify the user.

[0046] In addition, it can also be configured that when the diagnosis result is that the body A is structurally sound, the diagnostic device 7 uses the notification device 8 to notify the user that the body A is structurally sound.

[0047] On the other hand, in the body handling device 1, the timing for diagnosing the structural soundness of the body A stored in the storage part 2 is immediately after the body A is stored in the storage part 2 and the cover part 3 is closed. When the user transports the body handling device 1 with the body A stored, in addition to the vibration generated by applying vibration to the body A with the hammer 5, there is also the vibration of the body handling device 1 itself, which may affect the obtained spectrum.

[0048] Therefore, for example, it can also be configured such that, in a state where vibration is not applied to the body A (e.g., the arm b of the unmanned aerial vehicle) by the hammer 5, when it is confirmed from the data output by the sensor 6 in contact with the body A that there is no vibration in the body handling device 1 or the like, the diagnostic device 7 performs a structural soundness diagnosis of the body A.

[0049] In addition, it can also be configured such that, in a case where the structural soundness diagnosis of the body A can be appropriately performed even if the body handling device 1 vibrates slightly, the diagnosis is performed when the user transports the body handling device 1 or the like.

[0050] As described above, according to the body handling device 1 of the present embodiment, instead of the user performing a structural soundness diagnosis of the body A, the structural soundness diagnosis is automatically performed only by storing the body A of the unmanned aerial vehicle in the body handling device 1, so that the user's labor can be saved.

[0051] In addition, by performing the diagnosis of the body A regularly in this way, when the structural soundness of the body A is lost (when the body A is damaged or the like), the situation is notified, so that the user can reliably perform maintenance, repair, component replacement, etc. of the body A.

[0052] [Modification Example]

[0053] In addition, in the above-described embodiment, the case of hammering the arm b of the unmanned aerial vehicle has been described, but it can also be configured to hammer the main body a of the unmanned aerial vehicle.

[0054] In this case, if the main body a of the unmanned aerial vehicle is clamped by the internal structure of the storage unit 2 and the internal structure of the lid unit 3 as shown in Figure 2 , the main body a is not easily vibrated. Therefore, for example, as shown in Figure 3 , it can be configured such that the entire unmanned aerial vehicle is clamped by the respective foaming materials 9 of the storage unit 2 and the lid unit 3 to position the unmanned aerial vehicle in the body handling device 1, and it can be configured such that the hammer 5 is disposed at a portion where a part of the foaming material 9 is grooved to apply vibration to the main body a of the unmanned aerial vehicle.

[0055] In addition, although not described in Figure 3 , it can also be configured to be able to hammer the arm b of the unmanned aerial vehicle.

[0056] On the other hand, for example, there is also an unmanned aerial vehicle in which the respective arms b are folded and stored as shown in Figure 4 , and in addition, although not shown in the figure, there is also a type of unmanned aerial vehicle that is stored in the body handling device 1 in a state where the respective components are disassembled.

[0057] However, even in such a case, it is possible to perform a structural soundness diagnosis by applying vibration to the body A (including the disassembled respective components) by the hammer 5 in a state where the respective arms b of the unmanned aerial vehicle are folded or in a state where the unmanned aerial vehicle is disassembled into the respective components, in the same manner as described above. In addition, inFigure 4 In the figure, the cover 3, notification device 8, diagnostic device 7, etc. of the airframe handling device 1 are omitted.

[0058] In addition, in the above-described embodiment, it has been described that the sensor 6 serving as a data collection device is provided on the cover 3 of the airframe handling device 1. However, for example, the sensor 6 may be pre-built inside the airframe A of the drone, such as on the arm b of the drone.

[0059] In this case, it is configured such that the diagnostic device 7 instructs the housed drone to activate the sensor 6 either wired or wirelessly, and performs hammering in this state, and the vibration data is sent from the sensor 6 either wired or wirelessly.

[0060] In addition, as the data collection device, it may also be configured such that, instead of or together with the above-described hammer 5, a pressing unit for pressing the airframe A is provided in the storage unit 2, the sensor 6 is provided on the cover 3 or the like or built inside the airframe A, and the displacement (stress, strain) generated by the pressing is measured by the sensor 6. In this case, for example, a strain gauge can be used as the sensor.

[0061] Moreover, in this case, the displacement measured by the sensor is different between the case where the drone structure is sound and the case where it is not sound. Therefore, the diagnostic device 7 can diagnose the structural soundness of the airframe A based on the collected displacement data.

[0062] In addition, as the data collection device, it may also be configured such that, instead of or together with the above-described hammer 5 and pressing unit, a unit for exciting ultrasonic waves in the airframe A is provided in the storage unit 2, the sensor 6 is provided on the cover 3 or the like or built inside the airframe A, and the ultrasonic waves propagating in the airframe A are measured by the sensor 6.

[0063] Moreover, in this case, the ultrasonic waves measured by the sensor are different between the case where the drone structure is sound and the case where it is not sound. Therefore, the diagnostic device 7 can diagnose the structural soundness of the airframe A based on the collected ultrasonic wave data.

[0064] In addition, in the above-described embodiment, it has been described that the airframe handling device 1 is box-shaped and the user carries the airframe handling device 1. However, for example, the airframe handling device 1 may also be of a type that is installed on a vehicle, ship, etc., an airframe handling device integrally provided with a vehicle, ship, etc.

[0065] Thus, the airframe handling device 1 of the present invention does not necessarily have to be movable by the user himself / herself. As long as it can house and carry the airframe A of the drone, it can be in any form.

[0066] In addition, in the case where the drone is an unmanned aerial vehicle (UAV), for example, as Figure 5As shown, it is also possible that the upper surface 3a of the lid portion 3 of the aircraft handling device 1 serves as the takeoff and landing area 10 of the unmanned aircraft.

[0067] In the case where the takeoff and landing area 10 of the unmanned aircraft is provided on one surface of the housing of the aircraft handling device 1 (for example, the upper surface 3a of the lid portion 3), for example, it is configured that a sensor 6 is disposed at a portion where the body A of the unmanned aircraft (for example, the leg portion c) abuts, or the sensor 6 is erected from the upper surface of the lid portion 3, etc., so that the sensor 6 abuts against the body A (the main body portion a, the arm portion b, the leg portion c, etc.) of the unmanned aircraft, and vibration is applied by the hammering of the hammer 5.

[0068] Moreover, it can be configured that the diagnostic device 7 ( Figure 5 not shown in detail) diagnoses the structural soundness of the body A of the unmanned aircraft based on the vibration data.

[0069] According to such a configuration, not only can the unmanned aircraft be automatically diagnosed when the body A of the unmanned aircraft is carried by the aircraft handling device 1, but also the unmanned aircraft can be automatically diagnosed before takeoff. In addition, when an abnormality occurs in the structural soundness of the body A after the unmanned aircraft is taken out of the aircraft handling device 1, the abnormality can be reliably detected.

[0070] In addition, the present invention is not limited to the above-described embodiments, modification examples, etc. Of course, as long as it does not deviate from the gist of the present invention, appropriate changes can be made.

[0071] For example, in the above-described embodiments, etc. (refer to Figures 1 to 4 ), the case where the hammer 5 is provided on the side of the storage portion 2 and the sensor 6 is provided on the side of the lid portion 3 is described, but the hammer 5 can also be provided on the side of the lid portion 3, and the sensor 6 can also be provided on the side of the storage portion 2. In addition, it can also be configured that the hammer 5 and the sensor 6 are provided at the same part of the aircraft handling device 1 (for example, the storage portion 2, etc.).

[0072] In addition, in the above-described embodiments, etc., it is described on the premise that the unmanned aircraft is lightweight and can be moved by a person, but the present invention can also be applied to an unmanned aircraft that is heavy and is carried by a crane, for example, in a state of being stored in the aircraft handling device 1.

Claims

1. A body handling device for receiving and handling the body of a drone, characterized in that: The body handling device includes: A storage part capable of storing the body; A data collection device for collecting data related to the structural soundness of the body stored in the storage part; A diagnostic device for diagnosing the structural soundness of the body based on the collected data; And A notification device for notifying the diagnosis result of the diagnostic device, The data collection device includes: a unit for exciting ultrasonic waves in the body; And a sensor for measuring the ultrasonic waves propagated in the body.

2. The body handling device according to claim 1, characterized in that: The data collection device includes: a hammer for hammering the body; and a sensor for measuring the vibration generated in the body.

3. The body handling device according to claim 1, characterized in that: The data collection device includes: a pressing unit for pressing the body; and a sensor for measuring the displacement generated in the body.

4. The body handling device according to claim 2, characterized in that: The data collection device includes: a pressing unit for pressing the body; and a sensor for measuring the displacement generated in the body.

5. The body handling device according to any one of claims 1 to 4, characterized in that: The drone is an unmanned aircraft, A takeoff and landing area of the unmanned aircraft is provided on one surface of the housing of the body handling device, The sensor of the data collection device and / or the sensor of the data collection device erected from the surface are arranged at a part of the takeoff and landing area where the body of the unmanned aircraft abuts, so that the sensor of the data collection device abuts against the body of the unmanned aircraft.

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